Abstract
This study describes a walking motion control algorithm capable of effective ground adaptation without using a specific balance control algorithm when a biped robot walks on irregular ground. Through preview control, a center-of-mass trajectory capable of stable walking was derived, and motion control was performed using center of mass-inverse kinematics (CoM-IK) and computed torque control (CTC) in the task space. By switching the dynamic model according to the support/swing state of the leg, the motion control gain of the support leg and the swing leg can be maintained to a minimum. Therefore, when the foot lands on an irregular ground, joint rigidity is always minimized so that it can be easily adapted. Finally, the performance of the proposed algorithm was verified by comparing and analyzing three motion control methods on level and irregular grounds in the Gazebo dynamic simulation environment.
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